JPWO2018100696A1 - Motion capture system, motion capture program, and motion capture method - Google Patents

Abstract

  A plurality of body motion sensors (40) that can be worn on the site where the wearer (1) performs periodic motion and can measure the three-dimensional displacement or acceleration of each site, and the detection results are recorded as body motion data. Based on the accumulated body motion data, a period extracting unit (170c) for extracting the periodic motion of each body motion sensor (40), and analyzing the characteristics of the angular velocity change in the extracted periodic motion An analysis unit (170d) and a display (100a, 100b) that displays or outputs the characteristics analyzed by the analysis unit (170d) in correspondence with the rotation angle of the periodic motion extracted by the period extraction unit (170c), Display and output so that you can instantly understand complex body movements.

Description

  The present invention relates to a motion capture system, a motion capture program, and a motion capture method using a so-called smartphone, wearable type, and other information terminal devices.

  In recent years, as information terminal devices have become smaller, lighter, and more multifunctional, wearable information processing terminals called wearable terminals that can be worn on the user's body are becoming popular, and these wearable terminals are lightweight. In addition to the clock function and GPS function, it is equipped with functions such as communication with various sensors such as heart rate sensors, so it can be worn during sports training and exercise such as running, walking, biking, etc. A monitoring system has been developed (for example, Patent Document 1).

  According to the system disclosed in Patent Document 1, an apparatus for measuring an exercise parameter is attached to a shoe sole of a user, and the exercise parameter obtained by monitoring an exerciser during exercise activity is compared with basic baseline data. Thus, real-time feedback at the time of athletic activity can be given to the user by changing the music to be played, depending on whether or not the comparison result is within an allowable range.

JP 2013-215590 A

  However, human body movements are complicated in moving parts and movements, and there are many parameters to quantify them. An interface is desired. In particular, when body motion is captured in real time during exercise and coaching is performed based on the captured result, it is necessary to display the parameters to be converted in real time so that the user can instantly understand them.

  Therefore, the present invention solves the above problems, and in a system for capturing the motor activity of a user's body, a motion capture system and a motion for displaying and outputting complex body movements so that they can be instantly understood. An object is to provide a capture program and a motion capture method.

In order to solve the above problems, the present invention provides a motion capture system for detecting a wearer's body movement,
A plurality of body motion sensors that are mounted on a site where the wearer's periodic movement is performed and can measure three-dimensional displacement or acceleration of each site;
A body motion recording unit for recording a detection result by the body motion sensor as body motion data;
A period extractor for extracting a periodic motion of each body motion sensor based on the body motion data stored in the body motion recording unit;
A characteristic analysis unit for detecting a characteristic of an angular velocity change in the periodic motion extracted by the period extraction unit;
And an output device that displays or outputs the characteristic analyzed by the characteristic analysis unit in correspondence with the rotation angle of the periodic motion extracted by the period extraction unit.

Further, the present invention is a motion capture method for detecting body movement of a wearer,
The body motion sensor attached to the part where the wearer performs periodic motion measures the three-dimensional displacement or acceleration of each part, and the detection result by the body motion sensor is used as the body motion data. Body movement recording step for recording in the recording unit;
Based on the body movement data accumulated in the body movement recording unit, a period extraction unit extracts a periodic movement of each body movement sensor; and
A characteristic analysis step in which a characteristic analysis unit analyzes a characteristic of angular velocity change in the periodic motion extracted in the periodic extraction step;
An output step in which the output device displays or outputs the characteristic analyzed in the characteristic analysis step in correspondence with the rotation angle of the periodic motion extracted in the periodic extraction step.

  According to these inventions, for example, body motion is detected for a periodic motion such as riding a bicycle, and the characteristics of the periodic motion are displayed or output in correspondence with the rotation angle, thereby depressing the pedal of the bicycle. You can instantly understand the occurrence of disturbances in the form and disruption of the rhythm.

  In the above invention, it is preferable that the body motion sensor is attached to a site below both ankles of the wearer. In this case, for example, a body motion sensor can be placed on footwear worn below an ankle such as sports shoes, and since the body motion sensor can be worn together with the footwear, the body motion sensor can be easily attached.

  In the above invention, the output device represents the periodic motion extracted by the period extraction unit in a planar circle, and the characteristics analyzed by the characteristic analysis unit are represented by the rotation angle at which each characteristic appears by the center angle of the circle. It is preferable to display. In this case, the output device can display the intensity of the characteristic analyzed by the body motion sensor by the distance from the origin of the circle. At this time, the output device may express the change in the characteristic analyzed by the body motion sensor by a symbol, a figure, or a color or size thereof. In this case, a periodic motion such as pedaling a bicycle can be geometrically expressed according to the rotation angle, and the characteristics of the periodic motion can be understood at a glance.

  As described above, according to the present invention, in the system for capturing the motor activity of the user's body, it is possible to display and output the complex body motion so that it can be understood instantly, and the influence of parameters on the exercise form. Can be analyzed to properly adjust the collapse of the exercise form. In particular, according to the present invention, since the body motion sensor can be freely mounted in the mounting position and mounting direction, usability can be improved.

  The above-described motion capture system and motion capture method according to the present invention can be realized by executing the motion capture program according to the present invention described in a predetermined language on a computer. That is, the program of the present invention is installed in a mobile terminal device, a smart phone, a wearable terminal, a mobile PC or other information processing terminal, an IC chip or a memory device of a general-purpose computer such as a personal computer or a server computer, and executed on the CPU. Thus, a motion capture method can be implemented by constructing a system having each function described above.

  In such a motion capture program of the present invention, for example, a package application that can be distributed through a communication line and that operates on a stand-alone computer by recording on a computer-readable recording medium. Can be transferred. Specifically, the recording medium can be recorded on various recording media such as a magnetic recording medium such as a flexible disk and a cassette tape, an optical disk such as a CD-ROM and a DVD-ROM, and a RAM card. According to the computer-readable recording medium on which the program is recorded, the above-described system and method can be easily implemented using a general-purpose computer or a dedicated computer, and the program can be stored, transported, and Easy installation.

It is explanatory drawing which shows the usage condition of the motion capture system which concerns on embodiment. It is an example of the body movement reproduction data acquired in the embodiment. It is a block diagram which shows the internal structure of each apparatus which concerns on embodiment. It is explanatory drawing of the information terminal device which concerns on embodiment, (a) is a perspective view which shows the whole structure of the information terminal device (at the time of large sized display mounting) which concerns on embodiment, (b) is description which shows the usage condition FIG. (A) is a perspective view which shows the whole structure of the information terminal device (at the time of small display mounting) which concerns on embodiment, (b) is explanatory drawing which shows the usage condition. (A) is a perspective view which shows the state which mounted | wore the mounting instrument with the information terminal device which concerns on embodiment, (b) is explanatory drawing which shows the usage condition. It is a sequence diagram which shows the motion capture method which concerns on embodiment. It is a screen block diagram which shows the display screen of the motion capture system which concerns on embodiment. It is a perspective view which shows the whole structure of the clip for attaching the body motion sensor which concerns on embodiment. It is a perspective view which shows the operation | movement which attaches the body motion sensor which concerns on embodiment to a clip. It is a perspective view which shows the operation | movement at the time of attaching the clip which concerns on embodiment to another site | part. It is a perspective view which shows the operation | movement at the time of attaching the clip which concerns on embodiment to another site | part using a string member. It is explanatory drawing which shows the analysis method of the body motion data in embodiment. It is explanatory drawing which shows the analysis method of the body motion data in embodiment.

  Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, a system that enables measurement and coaching for a plurality of types of competitions such as triathlon competition bikes and runs using a single information terminal device 100 is provided. The embodiments described below exemplify devices for embodying the technical idea of the present invention, and the technical idea of the present invention includes the material, shape, structure, The arrangement is not specified as follows. The technical idea of the present invention can be variously modified within the scope of the claims.

(System configuration)
FIG. 1 is an explanatory diagram showing a usage mode of a motion capture system using the information terminal device 100 according to the present embodiment, and FIG. 2 shows body motion reproduction data acquired by the motion capture system according to the present embodiment. It is an example. FIG. 3 is a block diagram showing an internal configuration of each apparatus.

  As shown in FIGS. 1 to 3, the motion capture system according to the present embodiment includes an information terminal device 100 worn by the wearer 1 and a wireless device attached to each part of the wearer's body to the information terminal device 100. It is comprised from the body motion sensor 40 (40a, 40b) connected. In the present embodiment, the system can basically be constructed within a range constructed by short-range wireless communication between the information terminal device 100 and the body motion sensor 40. It is not connected during actual measurement, and the system can be operated as a so-called offline stand-alone.

(Configuration of each device)
(1) Body Motion Sensors The body motion sensors 40a and 40b are a pair of sensors that are attached to a part where the wearer 1 performs a periodic motion and detect three-dimensional displacement or acceleration of each part. In the present embodiment, the body motion sensors 40a and 40b are attached to parts below the ankles of the wearer 1, and are attached to the right foot motion sensor 40a attached to the back of the wearer's right foot. And a left foot motion sensor 40b attached to the back of the person's left foot. These body motion sensors 40a and 41b are equipped with a three-axis accelerometer that measures the acceleration of the object, a three-axis gyroscope that detects the angular velocity of the object, and a three-axis magnetic sensor that measures the magnitude and direction of the magnetic field. The movement of the shaft can be detected.

  Each body movement sensor 40 can be attached to and removed from the wearer's shoes by a member such as a clip, etc., and the wearer can attach and detach each sensor and perform measurement with a daily sense of putting on and taking off the shoes. And it is easy to perform continuous measurement without burdening the wearer.

  And these body motion sensors 40 (each body motion sensor 40a, 40b) each have a radio | wireless communication part, as shown in FIG. This wireless communication unit has an antenna inside, and an information terminal device by a function of executing a data communication protocol for short-range wireless communication by BTLE (Bluetooth (registered trademark) Low Energy, Bluetooth (registered trademark) 4.0) or the like Communication processing with 100 is possible. In the present embodiment, the wireless communication unit of each body motion sensor 40 employs BTLE as a protocol for low power consumption communication. However, for example, ANT, ANT +, or the like may be employed. Ordinary Bluetooth (registered trademark) may be employed.

  Next, the clip 4 used for the wearer 1 to wear the body motion sensors 40a and 40b on the body will be described. FIGS. 9A and 9B are a perspective view and a cross-sectional view showing the entire configuration of the clip 4 for mounting the body motion sensor 40 according to the present embodiment, and FIG. 10 shows the body motion sensor 40 in the clip 4. It is a perspective view which shows the operation | movement attached to. The body motion sensors 40a and 40b according to the present embodiment are fixed to a bicycle shoe with a clip or the like, and the shoe is attached with a cleat for a general bicycle clipless pedal. It is assumed that the shoes are fixed to the pedals via.

  Each body motion sensor 40 can be easily attached to the wearer's clothes, shoes, or the like via the clip 4 by being attached to the clip 4. Specifically, the clip 4 is a device that is detachably attached to the groove portion of the body motion sensor 40, and has a gripping member 42 for attaching to the wearer's clothes and the like in a state where the body motion sensor 40 is attached. The gripping member 42 is a tongue-like member that protrudes toward the bottom surface side of the rectangular main body frame 44, and is integrally formed via a connecting portion 44 a that forms part of a recess 41 formed in the main body frame 44. ing. The gripping member 42 is held in a state parallel to the bottom surface of the main body frame 44 by the elastic force of the connecting portion 44a. As shown in FIG. 11, the edge of the clothing is formed by the bottom surface of the main body frame 44 and the gripping member 42. As shown in FIG. 2, the other parts can be sandwiched and gripped.

  Further, a stopper 43 for fixing the body motion sensor 40 fitted in the recess 41 is formed at the rear end portion of the main body frame 44. The stopper 43 is a fixed portion that fixes the body motion sensor 40 that is fitted in and engaged with the concave portion 41. The stopper 43 is connected to the gripping member 42, and the body is pulled by a reaction force that the gripping member 42 grips other parts. The motion sensor 40 is pressed and fixed. More specifically, the stopper 43 is formed integrally with the rear end portion of the gripping member 42 and is connected to the main body frame 44 via a connecting portion 44a formed in the concave portion 41 of the main body frame 44. When the gripping member 42 is pushed down away from the main body frame 44 against the elastic force of 44a, the stopper 43 rises, and when the stopper 43 is pushed down, the gripping member 42 grips. The recessed portion 41 is provided with a flange portion 41a that protrudes so that a groove portion provided on each side portion of the body motion sensor 40 is fitted. Then, as illustrated in FIG. 10, when attaching the body motion sensor 40 to the clip, the body motion sensor 40 is slid into the recess 41 in the direction of the arrow in the drawing so that the flange portion 41a is inserted into the groove portion. In this way, it is fitted and fitted.

  In a state where the body motion sensor 40 is fitted to the recess 41, the stopper 43 is biased so as to press the rear end portion of the body motion sensor 40 forward, so that the flange portion 41a and the groove portion are Are firmly engaged and fixed. When the body motion sensor 40 is fitted in the recess 41 and another part 5 such as an edge of clothing is sandwiched between the gripping member 42 and the bottom surface of the main body frame 44, the elastic force of the connecting portion 44a is opposed. As a result, the gripping member 42 is pushed down away from the main body frame 44, and the stopper 43 is raised to more firmly fix the body motion sensor 40. When the body motion sensor 40 is removed from the clip 4, the engaging force by the stopper 43 is weakened by removing the clip 4 from the other part 5 held by the holding member 42 and the bottom surface of the main body frame 44. The groove portion can be removed from the flange portion 41 a by pushing down the stopper 43, and the body motion sensor 40 can be easily detached from the clip 4.

  Further, the clip 4 is provided with a locking portion for locking a binding member such as a shoelace, for example, for attachment to a part such as a shoelace of a sports shoe. FIG. 12 is a perspective view showing an operation when the clip 4 according to this embodiment is attached to another part.

  Specifically, as shown in FIG. 9, the gripping member 42 has cuts 42 a, 42 b, 42 b at both end portions, and as shown in FIG. By hooking a binding member such as a shoelace 51 inserted between the gripping member 42 and the clip member 4, the clip 4 can be fixed to the upper surface of the sports shoe, that is, the upper part of the wearer's foot. Thus, by attaching the body motion sensor 40 to the clip 4 fixed to the upper surface of the sports shoe, the body motion sensor 40 can be easily attached to the wearer's body, and the body can be pressed by pushing down the stopper 43. The motion sensor 40 can be easily detached from the clip 4. Note that a locking hole 44b to which a string or a strap can be attached is formed at the front end portion of the main body frame 44, and another fastening member may be locked using the locking hole 44b.

(2) Information Terminal Device FIGS. 4 to 6 show the overall configuration and usage of the information terminal device according to this embodiment. As shown in FIGS. 4 and 5, the information terminal device 100 according to the present embodiment is a wristwatch-type wearable terminal that can be worn by a user with a belt member 104, or a bicycle handle portion or the like as shown in FIG. It is configured so that it can be mounted on.

  Specifically, as shown in FIG. 4B, the information terminal device 100 is configured to be selectively combined with the belt member 104 or the docking device 101b. The information terminal device 100 and the dock device 101b or the belt member 104 are also detachable from each other, and can be separated and combined as appropriate. In addition, the information terminal device 100 and the dock device 101b have many types with different additional functions and designs depending on the purpose of use, and can be appropriately selected and changed in combination according to the purpose. For example, as shown in FIG. 4B and FIG. 6, a docking device 101b to which the information terminal device 100 is combined is attached with a mounting device 101 for mounting on a handle portion of a bicycle, or a power supply device 101c. As an extension battery can be installed.

  Further, in this embodiment, the information terminal device 100 is worn as a wristband on the user's arm or the like using the belt member 104 as a wearing terminal, or the clamp of the mounting device 101 is connected to the handle 102 portion of the bicycle. It is possible to continue to use one (one type) information terminal device for both motorcycles and runs, and the sensors attached to the body can be used for both motorcycles and runs. And can be used seamlessly.

  In the information terminal device 100 itself, as shown in FIG. 5B, the operation unit 100c provided with operation buttons, a touch panel, etc., and the display unit (100a or 100b) can be separated, and the event and measurement of the competition Depending on the purpose, the display can be replaced with a large one (large display 100b) and a small one (small display 100a). Accordingly, it is possible to appropriately select whether to give priority to the information display capability according to the area of the display or to give priority to power saving due to the small size of the apparatus. The same belt member 104 can be mounted regardless of which of the large display 100b and the small display 100a is selected and connected to the operation unit 100c.

  The small display 100a and the large display 100b have a liquid crystal display on the upper surface, and an engagement structure and an electrical connection connector for connecting to the operation unit 100c on the side surface. An engagement structure for engaging with the belt member 104 is provided on the bottom surface of the small display 100a and large display 100b and the operation unit 100c. The belt member 104 is a member for mounting the information terminal device 100 on the arm, and various belts can be used according to the use of the user. Various belts such as a metal belt, a rubber belt, a leather belt, and a nylon belt can be used. Is selectable.

  The small display 100a and the large display 100b are inclined and engaged with the operation unit 100c. After the engagement, the information terminal device 100 bends in the shape of a dogleg as a whole. It follows the roundness of the wearer's arm. The small display 100a and the large display 100b are displays for displaying messages and input characters to the user, and a touch panel is integrally formed on the upper surface thereof. This touch panel detects a touched position on the display by a detection method such as a pressure sensitive type, an optical type, an electrostatic type, or an electromagnetic induction type, for example, in units of dots constituting the display. The signal of “touch position” is output as the touch position. The touch position is expressed in the XY coordinate system set as the coordinate system of the detection surface of the touch panel. The user can perform various operation inputs by touch operations on the display using an attached touch pen, a finger, or the like.

  This waterproof touch panel detects a touched position on the display and outputs a detection signal as a touch position even on the water surface by a special capacitance detection method. The touch position is expressed in the XY coordinate system set as the coordinate system of the detection surface of the touch panel. Even in an environment where the water surface is attached, the user can perform various operation inputs by touch operations on the display. The watch body can also be operated with a mechanical button provided on the watch body.

  The small display 100a is sized to fit within the width of the belt member 104 and has a substantially trapezoidal shape. On the other hand, the large display 100b has a shape that is expanded laterally from the range of the width of the belt member 104, and the expanded shape portion protrudes in the arm direction opposite to the wrist of the wearer. It has a shape.

  The operation unit 100c is provided with a GPS antenna and a radio antenna in the exterior case. The GPS antenna is a satellite orbit information included in the navigation message from a 1.5 GHz band satellite signal extracted by a SAW filter (not shown), GPS An antenna for wireless communication (first antenna) that acquires satellite information such as time information or position information, and is formed of a conductive member such as stainless steel. The wireless antenna built in the operation unit 100c is an antenna for BTLE (Bluetooth (registered trademark) Low Energy), which is an ultra-low power short-range wireless standard, and is a small size worn on various sensors and bodies. It is for communicating with other devices. This wireless antenna is also formed of a conductive member such as stainless steel.

  Further, in the present embodiment, the operation unit 100c is equipped with operation buttons for manual operation by the user on its side surface, and a touch panel, a status display LED, and the like are arranged on the surface of the operation unit 100c. ing. Further, in the present embodiment, the operation unit 100c has a waterproof function and also has a function of processing radio waves (radio signals) from GPS satellites to acquire and display speed information and position information. . Further, the operation unit 100c may be provided with a function as an action meter based on measurement of acceleration due to body movement by incorporating an acceleration sensor or the like.

  On the other hand, the docking device 101 b is an information terminal device that is detachably engaged with the information terminal device 100, and is a box having a concave portion that is bent to match the outer shape of the information terminal device 100. In the present embodiment, the docking device 101b is formed of, for example, a synthetic resin such as cured plastic, and includes an information terminal device such as a CPU inside. In this embodiment, the dock device 101b has a dock-side connection terminal (first connection terminal) 21 formed on the upper surface thereof, and the bottom of the outer case of the information terminal device 100 via the dock-side connection terminal. Is detachably engaged.

  Specifically, a terminal-side connection terminal is provided at a position corresponding to the dock-side connection terminal at the bottom of the information terminal device 100, and the dock-side connection terminal comes into contact with the terminal-side connection terminal, so that the dock device 101b and the information terminal device 100 are electrically connected. The information terminal device 100 and the dock device 101b supply power to the information terminal device 100 from the dock device 101b or display on the small display 100a and the large display 100b via the dock side connection terminal. Data transmission / reception is performed.

  In addition, the dock device 101b is detachably mounted with a battery and has an RFID communication function capable of reading and writing data in a non-contact manner via wireless radio waves, and the dock device 101b. Wireless communication with an external reader / writer device is possible using a wireless antenna for wireless communication provided in the device. This wireless antenna is a non-contact wireless communication (NFC (Near Field Communication)) antenna that transmits and receives data using weak radio waves transmitted from an external reader / writer device. Furthermore, in the present embodiment, the docking device 101b includes a USB terminal that is electrically connected to an external device such as a personal computer. The USB terminal is an external terminal that is provided outside the dock device 101b and is connected to the external device via a USB cable, and is installed in a connector that protects the USB terminal disposed on the side of the dock device 101b. Has been.

  The power supply device 101c is a device that is detachably engaged with the bottom of the dock device 101b, and supplies power to and charges the information terminal device 100 and the dock device 101b. In the present embodiment, the power supply device 101c may be an indoor installation type such as a user's house or a portable type installed in an automobile, a bicycle, or the like. Here, in the case of an indoor installation type, power is supplied via an outlet and a power cable, while in the case of a portable type, a battery for storing power supplied from an external AC adapter device is provided. You may do it. The battery may incorporate a transformer, a rectifier, a stabilization circuit, or the like that converts alternating current into direct current. The configuration of the power supply device 101c can be changed according to the intended use. For example, when installed on a table or the like, an installation table is provided on the lower surface, and when installed on a bicycle. In addition, an attachment part for storing or fixing to the handle portion may be attached.

  Next, the internal configuration of the information terminal device 100 according to the present embodiment will be described. Specifically, as shown in FIG. 3, the information terminal device 100 includes a wireless interface 113, a control unit 170, a memory 114, an output interface 111, and an input interface 112.

  More specifically, the information terminal device 100 according to the present embodiment has a function of collecting detection results detected by each body motion sensor 40, and performs communication processing with each body motion sensor 40 by the wireless interface 113. The detection result can be acquired. The memory 114 of the information terminal device 100 functions as a body motion recording unit that records the detection result of the body motion sensor 40 as body motion data. Here, the body movement data is raw data detected by various sensors, and data obtained by recording and analyzing the body movement data, extracting necessary information, and correcting the body movement data is the body movement reproduction data.

  In addition, sensor identification information for identifying each body motion sensor 40 is added to the detection result transmitted from each body motion sensor 40, and the identification information is accumulated in the memory 114 of the information terminal device 100. The control unit 170 can determine from which body motion sensor 40 the detection result is acquired when acquired from the wireless interface 113. The identification information includes mounting part information for specifying the mounting part of each sensor, and body motion reproduction data can be calculated based on the mounting part information. Further, the body motion data includes time information when a detection result is acquired from each body motion sensor 40.

  The information terminal device 100 includes a wireless interface 113 as a communication function. The wireless interface 113 is a module that controls transmission / reception of various information via a communication network and short-range wireless communication such as wifi and Bluetooth (registered trademark), and communicates with each body motion sensor 40 by various protocols. In addition, data is transmitted to and received from the server device or the like by 3G communication.

  Furthermore, the information terminal device 100 has an output interface 111 that displays or outputs an analysis result for the body movement reproduction data, and the display information generated by the display information generation unit 170e is displayed on the display 100a or 100b through the output interface 111. Is displayed.

  In addition, in this embodiment, the information terminal device 100 has a function of analyzing body motion of the wearer based on body motion data acquired from each sensor and generating body motion reproduction data. Specifically, as shown in FIG. 3, the information terminal device 100 includes a control unit 170, and this control unit 170 is an arithmetic processing device such as a CPU that performs various calculations necessary for controlling each unit. is there. Each function of the large display 100b is virtually constructed on the control unit 170 by executing the motion capture program of the present invention in the control unit 170. More specifically, the control unit 170 executes the body motion data acquisition unit 170a, the body motion calculation unit 170b, the period extraction unit 170c, the analysis unit 170d, and the display information generation unit 170e by executing the motion capture application. Are virtually constructed.

  The body motion data acquisition unit 170a is a module that acquires body motion data from each body motion sensor 40 via the wireless interface 113. In this embodiment, the body motion data acquisition unit 170a performs wireless communication with each body motion sensor 40a to 41e, The body motion data as these detection results is acquired. The body motion data is temporarily stored in the memory 114, and then each detection result by the body motion sensor 40 is transmitted to the body motion calculation unit 170b.

  The body motion calculation unit 170b is based on the detection results by the body motion sensors 40a and 40b accumulated in the memory 114 (body motion recording unit), the displacement and rotation of each body motion sensor 40, and their accelerations. This is a module for calculating body motion as body motion reproduction data. Here, each detection result by the body motion sensor 40 is a value measured by a so-called nine-axis sensor. In this embodiment, the direction and magnitude of acceleration (including gravitational acceleration) acting on the object, the object Angular velocity (magnitude, direction, center position) and magnitude / direction (direction) of the magnetic field.

  Here, the calculated body motion includes an indicator of pedaling smoothness, an angular velocity ω of the pedal axis of the bicycle, a temporal change in the angular velocity ω, and a smoothness of the change. In the present embodiment, the body motion sensor 40 is attached to the left and right shoes, and the rotational motion detected by the sensors is the rotation of the shoes, but when riding a bicycle, the shoes rotate around the pedal axis. Let the angular velocity of this pedal shaft be ω.

  Further, in the present embodiment, the body motion calculation unit 170b is provided with a period extraction unit 170c. The period extracting unit 170c extracts a periodic change included in the body movement based on the body movement reproduction data stored in the memory 114. This periodic change includes not only a simple circular motion but also complex free circular trajectories C1 and C2 which are three-dimensional and combined with a figure 8 and a wave motion as shown in FIG.

  In the present embodiment, the circular motion by the right foot motion sensor 40a attached to the back of the right foot of the wearer 1 is extracted as C1a, and the circular motion by the left foot motion sensor 40b attached to the back of the wearer's left foot is extracted as C1a. In these circular motions, C1a and C1b perform circular motions whose main component is a direction along the plane xy including the traveling direction x and the vertical direction y of the wearer 1 during running and cycling. The analysis unit 170d also has a function of analyzing the pattern of the circular motion, and by automatically extracting the characteristics of the circular motion, the event of the current competition is automatically determined and suitable for the event. The processing setting can be switched.

In this embodiment, the following calculation is performed as a method for extracting this periodic change.
First, the rotation axis is estimated from the three-axis gyro value by the following equation.
Here, since the length of Axis is not 1, the normalized axis is used as the rotation axis (RotationAxis) as shown in the following equation.

How much this RotationAxis is rotating with respect to the coordinates of the wearer 1 relative to the human body is calculated as a rotation matrix QuatAxis of the following equation.

By rotating the body motion data detected by the body motion sensor 40 with this rotation matrix QuatAxis, the rotation component at the center of the RotationAxis can be extracted on the X axis as shown in the following equation.
This MainComponentGyro is obtained as the angular velocity ω of the pedal shaft.

  In the present embodiment, the body motion calculation unit 170b uses the body motion of the wearer as body motion reproduction data based on the detection results of the body motion sensor 40 and the change characteristics of the circular motion of the body motion sensor 40. calculate. At this time, the body motion calculation unit 170b calculates, for example, a three-dimensional free-circulation locus C1 of each body motion sensor 40 as shown in FIG. Then, the body motion calculation unit 170b evaluates the disruption of the orbital movement in each of the left and right of the wearer based on the characteristic change of the calculated free orbital locus C1 (C1a and C1b). Then, the body motion reproduction data is calculated based on the free circulation locus C1 thus calculated.

  The analysis unit 170d is a module that analyzes the body movement of the wearer 1 based on the body movement reproduction data. In the present embodiment, the analysis unit 170d functions as a characteristic analysis unit that analyzes the characteristics of the angular velocity change in the periodic motion extracted by the period extraction unit 170c. The characteristics analyzed here are extracted by the period extraction unit 170c. It is displayed or output by an output device corresponding to the rotation angle of the periodic motion.

  Specifically, it is known that the angular velocity ω of the pedal generally shows a shape close to a sine wave as shown in FIG. 13A, and the tendency is remarkable in skilled players, As shown in FIGS. 2B and 2C, this shape tends to collapse in an amateur or in a fatigued state, so that there is no smooth sine wave. In the present embodiment, as shown in FIGS. 14A and 14B, the difference between the maximum value and the minimum value at the local peak when the sine wave collapses indicates the degree of the characteristic of the angular velocity change in the periodic motion. Evaluate as a score. In the example shown in FIG. 14, (a) has a score of 16.5, (b) has a score of 40.2, and (b) is evaluated as having a greater collapse.

In the analysis by the analysis unit 170d, the pedal position is estimated. The cause of the deceleration of the pedal angular velocity ω (MainComponentGyro) occurs somewhere when the pedal crank is rotated. The position of the same sensor is used to indicate the position to the wearer 1 as an analysis result of the angular velocity change characteristic. The pedal position is estimated using the acceleration. Bicycle cranks typically rotate in the range of 30 to 200 rpm. The crank length is generally about 160 mm to 180 mm, and depending on the position at which the body motion sensor 40 is mounted, it rotates at about 100 rpm in a state about 200 to 300 mm away from the center of rotation. At this time, the centrifugal force applied to the sensor is expressed by the following equation as an ideal value.
According to this equation, a centrifugal force of 3 times or more of the gravitational acceleration is applied, and a centrifugal force of 1 time is applied even at a rotation speed of 30 rpm. In this state, the vector length indicated by the 3-axis accelerometer shows the minimum value when the pedal and the centrifugal force cancel each other near the top dead center, and the centrifugal force and the gravitational acceleration add near the bottom dead center. The maximum value is shown.

The length of the vector is simply calculated by the following equation, and the pedal position can be estimated by linearly interpolating the other with the maximum value as the bottom dead center and the minimum value as the top dead center.
In addition, as another analysis method by this analysis part 170d, based on body movement reproduction data, you may generate | occur | produce the stereo image data which displayed the wearer 1 three-dimensionally. Improved data showing deviations from normal body movements by extracting the model body movement data from the memory 114 in which the model body movement data is accumulated and comparing it with the body movement reproduction data of the wearer. May be generated. Furthermore, the analysis based on each user information may be performed by registering user information such as sex, height, weight, and age in advance. Then, the analysis unit 170d transmits the analysis results such as the stereoscopic image data and the improvement data to the information terminal device 100.

  The display information generation unit 170e is a module that generates display information displayed on the output interface 111, and displays or analyzes the characteristics analyzed by the analysis unit 170d in correspondence with the rotation angle of the periodic motion extracted by the period extraction unit 170c. Generate display information for output. In this embodiment, the display information represents the periodic motion extracted by the period extraction unit 170c as a planar circle as shown in FIG. 8, and the rotation angle at which each characteristic of the periodic motion analyzed by the analysis unit 170d appears. The intensity of the periodic motion characteristic is expressed by the distance from the circular origin, and the change of the periodic motion characteristic is expressed by a symbol, a figure, or their color or size. Note that this display information includes display signals and acoustic signals and other output control signals.

  The memory 114 is a storage device that records various data, and includes identification information for identifying each information terminal device 100, wearing part information of each body motion sensor 40, and a relative position of the body motion sensor 40 attached to each part. The relationship, the above-described user information, model body motion data, and the like are accumulated.

(Motion capture method)
By operating the motion capture system having the above configuration, the motion capture method according to the present embodiment can be implemented. FIG. 7 is a sequence diagram showing a motion capture method according to this embodiment. Here, a case where coaching is performed in a bicycle competition will be described as an example.

  First, the wearer 1 wears the body motion sensors 40a and 40b on both feet. Further, the wearer 1 fixes the information terminal device 100 to the bicycle handle 102 via the mounting device 101 and the dock device 101b, and charges the information terminal device 100 from the dock device 101b and the power source device 101c. Perform motion capture.

  When the fixing of the information terminal device 100 is completed, an operation is performed so as to acquire a detection result from each body motion sensor 40 (S201). At this time, the competition event may be selected by a user operation, or the characteristics of the above-mentioned circular motion are extracted, and the competition event preset in advance is automatically discriminated from the extracted pattern, and suitable for the event. The processing settings can be switched. With this function, even if the sporting event is switched halfway, measurement can be continued seamlessly without requiring special scanning.

  Then, upon receiving the detection start operation, the control unit 170 of the information terminal device 100 performs connection processing with each body motion sensor 40 when the operation signal is acquired (S101). After the connection processing, each body motion sensor 40 detects the operation of the wearer 1. Specifically, the three-dimensional displacement or acceleration of each part is detected by the body motion sensor 40 attached to each part of the wearer's body (S102). Next, each acquired detection result is transmitted to the wireless interface 113 of the information terminal device 100 by weak radio waves via the wireless communication unit of each body motion sensor 40 (S103). When the wireless interface 113 of the information terminal device 100 acquires each detection result (S202), the memory 114 serving as a body motion recording unit records the detection result by the body motion sensors 40a and 41b as body motion data (S203).

  Thereafter, when the body motion data is acquired by the body motion data acquisition unit 170a, the cycle extraction unit 170c transmits each detection result by the body motion sensor 40 to the body motion calculation unit 170b. The body motion calculation unit 170b calculates the body motion of the wearer as body motion reproduction data based on each detection result by the body motion sensor 40 accumulated in the body motion recording unit and the relative positional relationship of each body motion sensor 40. The body motion reproduction data is transmitted to the analysis unit 170d (S204). On the other hand, the analysis unit 170d corrects the body motion reproduction data calculated by the body motion calculation unit 170b when a predetermined cycle arrives based on the detection result by the cycle extraction unit 170c (S206).

  Further, the analysis unit 170d analyzes the wearer's body movement based on the body movement reproduction data (S207). The data of the analyzed analysis result is displayed or output by the sound by the display 100a or 100b or the speaker (S208). In addition, when a change is detected in the pattern of the extracted orbital motion and body motion reproduction data (“Y” in S209), the pattern is collated to automatically determine the current sporting event, and the competition It is possible to switch to a measurement setting suitable for the event (S210).

  The above processing is continuously executed during the competition (“N” in S211). Upon completion of the detection processing (“Y” in S211), communication with each sensor is disconnected (S212 and S104).

(Motion capture program)
The above-described motion capture system and motion capture method according to the present invention are realized by executing the motion capture program of the present invention described in a predetermined language on a computer like the above-described motion capture application. Can do. That is, the program of the present invention is installed in a mobile terminal device, a smart phone, a wearable terminal, a mobile PC or other information processing terminal, an IC chip or a memory device of a general-purpose computer such as a personal computer or a server computer, and executed on the CPU. Thus, a motion capture method can be implemented by constructing a system having each function described above.

(Action / Effect)
According to the present embodiment as described above, the body motion is detected with respect to a periodic motion such as riding a bicycle, and the characteristics of the periodic motion are displayed or output in correspondence with the rotation angle. You can instantly understand the occurrence of form disturbance and rhythm disruption when you step on.

  In particular, in the above invention, since the body motion sensor can be disposed on footwear worn below the ankle, such as sports shoes, and the body motion sensor can be worn together with the footwear, Mounting becomes easy. In addition, since the body motion sensor can be mounted freely in the mounting position and mounting direction, usability can be improved.

  Further, as shown in FIG. 8, the output device represents the periodic motion extracted by the period extraction unit as a planar circle, and the characteristics analyzed by the characteristic analysis unit indicate the rotation angle at which each characteristic appears as the center of the circle. Since it is displayed by an angle, the periodic motion can be geometrically expressed according to the rotation angle, and the characteristics of the periodic motion can be understood at a glance.

  In the motion capture program according to the present embodiment, for example, a package application that can be distributed via a communication line and that operates on a stand-alone computer by recording on a computer-readable recording medium. Can be transferred as Specifically, the recording medium can be recorded on various recording media such as a magnetic recording medium such as a flexible disk and a cassette tape, an optical disk such as a CD-ROM and a DVD-ROM, and a RAM card. According to the computer-readable recording medium on which the program is recorded, the above-described system and method can be easily implemented using a general-purpose computer or a dedicated computer, and the program can be stored, transported, and Easy installation.

C1 ... Free-circulation trajectory x ... Traveling direction y ... Vertical direction 1 ... Wearer 40 ... Body motion sensor 40a ... Right foot body motion sensor 40b ... Left foot body motion sensor 41 ... Recessed portion 41a ... Flange portion 42 ... Grip member 42a, 42b ... Cut Insert 43 ... Stopper 44 ... Main body frame 44a ... Connecting portion 44b ... Locking hole 51 ... Shoelace 100 ... Information terminal device 100a ... Small display 100b ... Large display 100c ... Operation unit 101 ... Mounting instrument 101b ... Dock device 102 ... Handle DESCRIPTION OF SYMBOLS 104 ... Belt part 111 ... Output interface 112 ... Input interface 113 ... Wireless interface 114 ... Memory 170 ... Control part 170a ... Body motion data acquisition part 170b ... Body motion calculation part 170c ... Period extraction part 170d ... Analysis part 170e ... Display information generation Part

In order to solve the above problem, the present invention is a motion capture system for detecting body movement of a wearer,
A plurality of body motion sensors that are mounted on a site where the wearer's periodic movement is performed and can measure three-dimensional displacement or acceleration of each site;
A body motion recording unit for recording a detection result by the body motion sensor as body motion data;
A period extractor for extracting a periodic motion of each body motion sensor based on the body motion data stored in the body motion recording unit;
A characteristic analysis unit for detecting a characteristic of an angular velocity change in the periodic motion extracted by the period extraction unit;
An output device that displays or outputs the characteristic analyzed by the characteristic analysis unit in correspondence with the rotation angle of the periodic motion extracted by the periodic extraction unit ;
The characteristic analysis unit analyzes the pattern of the periodic motion, extracts the characteristics of the periodic motion, discriminates the event of the competition being performed by the wearer, and switches processing settings suitable for the discriminated event It has a function .

Further, the present invention is a motion capture method for detecting body movement of a wearer,
The body motion sensor attached to the part where the wearer performs periodic motion measures the three-dimensional displacement or acceleration of each part, and the detection result by the body motion sensor is used as the body motion data. Body movement recording step for recording in the recording unit;
Based on the body movement data accumulated in the body movement recording unit, a period extraction unit extracts a periodic movement of each body movement sensor; and
A characteristic analysis step in which a characteristic analysis unit analyzes a characteristic of angular velocity change in the periodic motion extracted in the periodic extraction step;
Said characteristics analyzed by the characteristics analysis step, look including an output step of the said periodic movement output device rotational angle in correspondence of extracted in period extraction step is displayed or output,
The characteristic analysis unit analyzes the pattern of the periodic motion, extracts the characteristics of the periodic motion, discriminates the event of the competition being performed by the wearer, and switches processing settings suitable for the discriminated event It has a function .

In the above invention, the body motion sensor is attached to a portion below both ankles of the wearer when the pedal of the bicycle is being stroked, and the characteristic analysis unit is configured to generate centrifugal force and gravity near the top dead center of the pedal. The pedal position is estimated as the minimum value indicated by the cancellation of acceleration and the maximum value indicated by the addition of psychosomatic force and gravity acceleration near the bottom dead center of the pedal, and the angular velocity of the pedal's periodic motion is signed. It is preferable to evaluate the difference between the maximum value and the minimum value at the portion where the sine wave is broken as a degree of the angular velocity change characteristic . In this case, for example, a body motion sensor can be placed on footwear worn below an ankle such as sports shoes, and since the body motion sensor can be worn together with the footwear, the body motion sensor can be easily attached.

Further, the present invention is a motion capture method for detecting body movement of a wearer,
The body motion sensor attached to the part where the wearer performs periodic motion measures the three-dimensional displacement or acceleration of each part, and the detection result by the body motion sensor is used as the body motion data. Body movement recording step for recording in the recording unit;
Based on the body movement data accumulated in the body movement recording unit, a period extraction unit extracts a periodic movement of each body movement sensor; and
A characteristic analysis step in which a characteristic analysis unit analyzes a characteristic of angular velocity change in the periodic motion extracted in the periodic extraction step;
An output step in which an output device displays or outputs the characteristic analyzed in the characteristic analysis step in correspondence with the rotation angle of the periodic motion extracted in the periodic extraction step;
In the characteristic analysis step, the characteristic analysis unit analyzes the pattern of the periodic movement, extracts the characteristics of the periodic movement, discriminates the event of the competition being performed by the wearer, and is suitable for the discriminated event characterized in that you switch the processing Configuration.

Claims (15)

A motion capture system for detecting the body movement of a wearer,
A plurality of body motion sensors that are mounted on a site where the wearer's periodic movement is performed and can measure three-dimensional displacement or acceleration of each site;
A body motion recording unit for recording a detection result by the body motion sensor as body motion data;
A period extractor for extracting a periodic motion of each body motion sensor based on the body motion data stored in the body motion recording unit;
A characteristic analyzer that analyzes the characteristics of the angular velocity change in the periodic motion extracted by the periodic extractor;
A motion capture system comprising: an output device that displays or outputs a characteristic analyzed by the characteristic analysis unit in correspondence with a rotation angle of the periodic motion extracted by the periodic extraction unit.   The motion capture system according to claim 1, wherein the body motion sensor is attached to a portion below both ankles of the wearer. The output device represents the periodic motion extracted by the period extraction unit as a planar circle, and displays the characteristics analyzed by the characteristic analysis unit by the rotation angle at which each characteristic appears by the center angle of the circle. The motion capture system according to claim 1 or 2.   The motion output system according to claim 3, wherein the output device displays the intensity of the characteristic detected by the body motion sensor based on a distance from the origin of the circle.   5. The motion capture system according to claim 3, wherein the output device expresses a change in characteristics detected by the body motion sensor by a symbol, a figure, or a color or size thereof. A motion capture program for detecting the body movement of a wearer,
A plurality of body motion sensors that are mounted on a site where the wearer's periodic movement is performed and can measure three-dimensional displacement or acceleration of each site;
A body motion recording unit for recording a detection result by the body motion sensor as body motion data;
A period extractor for extracting a periodic motion of each body motion sensor based on the body motion data stored in the body motion recording unit;
A characteristic analyzer that analyzes the characteristics of the angular velocity change in the periodic motion extracted by the periodic extractor;
A motion capture program that functions as an output device that displays or outputs a characteristic analyzed by the characteristic analysis unit in correspondence with a rotation angle of the periodic motion extracted by the periodic extraction unit.   The motion capture program according to claim 6, wherein the body motion sensor is attached to a portion below both ankles of the wearer. The output device represents the periodic motion extracted by the period extraction unit as a planar circle, and displays the characteristics analyzed by the characteristic analysis unit by the rotation angle at which each characteristic appears by the center angle of the circle. The motion capture program according to claim 6 or 7, characterized by the above.   9. The motion capture program according to claim 8, wherein the output device displays the intensity of the characteristic detected by the body motion sensor by a distance from the origin of the circle.   The motion capture program according to claim 8 or 9, wherein the output device expresses a change in characteristics detected by the body motion sensor by a symbol, a figure, or a color or size thereof. A motion capture method for detecting body movement of a wearer,
The body motion sensor attached to the part where the wearer performs periodic motion measures the three-dimensional displacement or acceleration of each part, and the detection result by the body motion sensor is used as the body motion data. Body movement recording step for recording in the recording unit;
Based on the body movement data accumulated in the body movement recording unit, a period extraction unit extracts a periodic movement of each body movement sensor; and
A characteristic analysis step in which a characteristic analysis unit analyzes a characteristic of angular velocity change in the periodic motion extracted in the periodic extraction step;
An output step in which an output device displays or outputs the characteristic analyzed in the characteristic analysis step in correspondence with the rotation angle of the periodic motion extracted in the periodic extraction step.   The motion capture method according to claim 11, wherein in the measurement / recording step, the body motion sensor is attached to a site below both ankles of the wearer. In the output step, the output device represents the periodic motion extracted by the period extraction unit as a planar circle, and the characteristics analyzed by the characteristic analysis unit are the rotation angles at which the respective characteristics appear, and the center angle of the circle 13. The motion capture method according to claim 11, wherein the motion capture method is displayed.   The motion capture method according to claim 13, wherein in the output step, the output device displays the intensity of the characteristic detected by the body motion sensor by a distance from the origin of the circle.   15. The motion capture method according to claim 13 or 14, wherein in the output step, the output device expresses a change in characteristics detected by the body motion sensor by a symbol, a figure, or a color or size thereof.